CN110104228B - Under-actuated space capturing device with self-adaptability - Google Patents
Under-actuated space capturing device with self-adaptability Download PDFInfo
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- CN110104228B CN110104228B CN201910397506.3A CN201910397506A CN110104228B CN 110104228 B CN110104228 B CN 110104228B CN 201910397506 A CN201910397506 A CN 201910397506A CN 110104228 B CN110104228 B CN 110104228B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
The invention provides an underactuated space capturing device with self-adaptability, wherein one end of a plurality of chucks is positioned outside a shell, the other end of each chuck extends into the shell through an opening on the end face of the shell and is hinged at one end of a telescopic rod, and torsion springs are arranged at the hinged positions; the telescopic rod is driven to reciprocate along the axial direction of the shell to drive the clamping head to extend or retract into the shell, and when the clamping head extends out of the shell, the clamping head is outwards opened along the radial direction of the shell under the action of the torsion spring; when the chuck is retracted into the shell, the chuck is extruded by the opening of the end face of the shell, and the chuck is folded to capture a target; the contact part of the chuck and the target is provided with a pressure sensor, and the movement of the telescopic rod is controlled in a feedback way. The invention has the advantages of small and simple structure, low cost, labor saving, long service life, automatic centering and reliable clamping, can realize continuous capturing and releasing of various targets, has self-adaptability and wide interface applicability, and has great application value in space operation tasks such as repairing out-of-control satellites, assisting in orbit entering, off orbit and the like.
Description
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a space capturing device.
Background
The exploration activities of human beings on the outer space are gradually increased, the space environment is also continuously and deeply influenced while benefits are brought, and a large number of space fragments such as rocket last stage, invalid satellites, spacecraft mission throws, spacecraft disintegration and collision derivatives and the like remained in the outer space form a great threat to the development of human aerospace industry. According to the estimation of the American space monitoring network, the size of the space debris on the track is about 20000 to 22000 with the size larger than 10cm at present; about 500000 with a size greater than 1 cm; and the number of space debris having a size greater than 1mm is greater than 100,000,000, and the space debris may be classified into small debris, large debris, and dangerous debris therebetween according to the size.
Most of the space debris is a non-cooperative target, and because the target has lost posture adjustment capability and runs in a runaway state for a long time, complicated rotary motion and even free rolling motion tend to occur due to the influence of solar pressure, gravity gradient and other pickup moments and residual angular momentum before failure.
In the case of non-cooperative target motion patterns, the target tends to exhibit complex roll motion patterns under the influence of spatially-ingested moments, typical motion patterns of which can be divided into three types: spin motion about the minimum inertia axis (fig. 1 (a)), flat spin motion about the maximum inertia axis (fig. 1 (b)), and roll motion with nutation angle (fig. 1 (c)).
Active removal of space debris has become a hotspot in current research in the aerospace field. The primary key to active removal of spatial debris is to implement on-orbit capture. The non-cooperative target docking technique differs from the cooperative target docking technique in that its docking target is a satellite that does not have a specific docking interface installed.
The large number of geosynchronous orbit communication satellites in service, to enter a predetermined orbit after launch, require the use of a remote-site motor to propel the satellite. Typically, the satellites are in geosynchronous orbit, so that the carrier rocket will launch the satellites into synchronous transfer orbit (Geostationary Transfer Orbit). The distant location of the GTO orbit is at GEO and its near location is at a Low Earth Orbit (LEO). The GTO is elliptical. Geosynchronous satellites need to be rounded in order to reach synchronous orbit (GEO), which is accomplished at a remote location by a remote location recoil motor. In addition, a large number of reconnaissance satellites moving in the near-earth space are required to have stronger space maneuvering capability, flexible attack and defense performance and good concealment performance, and better orbit transfer capability of the satellites is required, so that orbit transfer engines are required to be installed. Therefore, the engine spray pipe is selected as a non-cooperative target docking interface and has wide application prospect. Typically, a satellite remote recoil engine (AKM) nozzle is selected as the docking interface.
For rigid capture of such non-cooperative targets, the capture mechanism needs to be able to reliably capture envelopes of revolved body shaped pair interfaces, small failed satellites, and the like.
At present, the on-orbit service spacecraft has limited accurate control capability, the mechanical arm precision operation is not actually carried out aiming at a non-cooperative/invalid target, and the non-cooperative target rigid capturing mechanism designed at present generally has the problems of lack of a locking mechanism, poor connection rigidity, poor capturing reliability and low universality.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the underactuated space capturing device with self-adaptability, which has the advantages of low structural complexity, low control requirement, high reliability and certain interface self-adaption capability.
The technical scheme adopted for solving the technical problems is as follows: an underactuated space capturing device with self-adaptability comprises a shell, a chuck, a torsion spring, a telescopic rod and a pressure sensor.
The shell is a hollow cylinder; one end of each chuck is positioned outside the shell, the other end of each chuck extends into the shell through an opening in the end face of the shell and is hinged to one end of the telescopic rod, a torsion spring is arranged at the hinged position, and one end of each chuck positioned outside the shell is driven to open outwards along the radial direction of the shell; the telescopic rod is driven to reciprocate along the axial direction of the shell to drive the clamping head to extend or retract into the shell, and when the clamping head extends out of the shell, the clamping head is outwards opened along the radial direction of the shell under the action of the torsion spring; when the chuck is retracted into the shell, the chuck is extruded by the opening of the end face of the shell, and the chuck is folded to capture a target; and a pressure sensor is arranged at the contact part of the chuck and the target, and the movement of the telescopic rod is controlled in a feedback manner, so that the pressure of the chuck and the contact part of the target is adjusted.
The telescopic rod is driven by the telescopic or motor driving screw thread pair of the controllable hydraulic cylinder piston rod.
And a radial thrust bearing is arranged at the opening of the end face of the shell, and the chuck is contacted with the shell through the radial thrust bearing.
The flexible friction-resistant anti-slip pad is arranged at the contact part of the chuck and the target, and the pressure sensor is arranged between the flexible friction-resistant anti-slip pad and the chuck.
The four clamping heads are distributed at the opening of the end face of the shell in a pair of two-to-two uniformly; when the clamping heads move to the opening limit station, the clamping heads are in a radial shape; when moving to the clamping limit station, the clamping heads are enveloped.
The outer ring of the radial thrust bearing and the surface of the chuck are plated by chemical vapor deposition technology.
The beneficial effects of the invention are as follows:
(1) The catching part at the front end has small and simple structural design, can realize good self-centering clamping effect of four chucks only by the linear motion of a simple telescopic rod, and has the characteristics of simple structure, symmetry and high clamping reliability.
(2) The four chucks are hinged with the four lifting lugs which are uniformly distributed respectively in an enveloping shape, and the whole capturing structure has automatic centering property. Such a design gives the entire simple chuck assembly as good self-centering as a three-jaw chuck (worm gear principle).
(3) The flexible wear-resistant anti-slip pad is arranged at the clamping head part, so that space fragments with various shapes and sizes such as interfaces or small-sized failure satellites of various rotator types of non-cooperative targets can be stably captured, and the self-adaptation is realized.
(4) A pressure sensing gasket is designed between the chuck and the flexible friction-resistant anti-skid pad and used for inputting clamping force as a feedback signal to a telescopic rod driving source so as to ensure that the target can be captured nearly like rigidity and the interface is not damaged.
Drawings
FIG. 1 is a schematic diagram of three exemplary forms of motion of a non-cooperative target;
FIG. 2 is a schematic view of an open limit station;
FIG. 3 is a schematic illustration of a fold limit station;
FIG. 4 is a schematic illustration of an actual capture taken as an example of a capture AKM nozzle;
FIG. 5 is a three-dimensional schematic view of a telescoping rod and collet assembly (not including a flexible wear-resistant cleat);
fig. 6 is a three-dimensional schematic of the housing.
Detailed Description
The invention will be further illustrated with reference to the following figures and examples, which include but are not limited to the following examples.
The invention provides an underactuated space capturing device with self-adaptability, which comprises a shell, four lifting lugs which are uniformly distributed, four radial thrust bearings which are uniformly distributed, a chuck assembly, a torsion spring, a flexible friction-resistant anti-slip pad, a pressure sensor and a telescopic rod.
The device is mounted on the end arm of the space manipulator of the service spacecraft. The catching part drives the connecting rod mechanism by controlling the expansion of the piston rod of the hydraulic cylinder or driving the screw pair by the motor and the like so as to fold or expand the chuck assembly, thereby achieving the catching or releasing effect.
When the chuck assembly moves leftwards under the drive of the telescopic rod, a folding effect is realized under the extrusion of four centripetal thrust bearings; when the four chucks in the chuck assembly move rightwards under the drive of the telescopic rod, an opening effect is achieved under the action of torsion springs at the four lifting lugs.
The radial thrust bearing has good lubrication effect, and the bearing rolls along the smooth upper surface of the chuck, so that the whole capturing action process is stable and reliable, and only a telescopic rod driving source is required to provide small telescopic force.
The embodiment of the invention provides a novel self-adaptive underactuated space capturing device which is arranged on an end arm of a space manipulator of a service spacecraft. The catching part drives the connecting rod mechanism by controlling the expansion of the piston rod of the hydraulic cylinder or driving the screw pair by the motor and the like so as to fold or expand the chuck assembly, thereby achieving the catching or releasing effect.
As shown in fig. 2, the four cartridges are arranged in a clover shape. The collet assembly is radially shaped when moved to the splay limit position. The right ends of the four chucks in the figure are all provided with flexible wear-resistant anti-skid sleeves.
As shown in fig. 3, the four cartridges are arranged in a clover shape. The collet assembly is envelope-shaped when moved to the clamping limit station.
As shown in fig. 5, the dimensions and relative positions of the collet and the radial thrust bearing determine the ultimate opening to the expansion of the entire collet assembly, which may be set according to practical requirements.
The following specific working procedures of the invention are as follows: (taking a remote recoil Engine (AKM) jet for capturing satellites as an example)
After the service spacecraft finds the target, path planning is carried out, the target is continuously approached, parking is carried out after the service spacecraft reaches a certain safety area, and then the control of mechanical arm operation is carried out with the aid of a vision system.
As shown in fig. 4, the embodiment of the invention comprises a shell 1, four lifting lugs 2 which are uniformly distributed, four radial thrust bearings and components 3 thereof which are uniformly distributed, a chuck component 4, a torsion spring, a flexible friction-resistant anti-slip pad 5, an AKM spray pipe 6 which is used as an out-of-control satellite docking interface, a pressure sensing gasket 7 and a telescopic rod 8. The device is mounted on the end arm of the space manipulator of the service spacecraft. The catching part drives the connecting rod mechanism by controlling the expansion of the piston rod of the hydraulic cylinder or driving the screw pair by the motor and the like so as to fold or expand the chuck assembly, thereby achieving the catching or releasing effect.
The shell 1 is in clearance fit with the telescopic rod 8. Four lifting lugs which are uniformly distributed are processed on a boss on the inner circumference of the shell 1 and are used for accommodating the radial thrust bearing.
The radial thrust bearing has good lubrication effect, and the axial dimension of the radial thrust bearing is slightly larger than the width of the chuck. The outer ring of the bearing and the upper surface of the chuck are coated by chemical vapor deposition (PVD) and other related technologies for preventing space cold welding, so that the service life of the capturing mechanism is prolonged.
When the chuck assembly 4 moves leftwards under the drive of the telescopic rod 8, a folding effect is realized under the extrusion of the radial thrust bearing assembly 3; the clamping head assembly 4 realizes an opening effect under the action of four torsion springs at the lifting lug 2 when driven by the telescopic rod 8 to move rightwards.
The flexible wear-resistant anti-slip pad is arranged at the clamping head part, so that space fragments with various shapes and sizes such as interfaces or small-sized failure satellites of various revolving body types of non-cooperative targets can be stably captured, and the self-adaptation is realized.
The pressure sensing gasket 7 is designed between the chuck 4 and the flexible friction-resistant anti-slip pad 5 and is used for inputting clamping force as a feedback signal to a telescopic rod driving source so as to ensure that the target can be captured nearly like rigidity and the interface is not damaged.
Four chucks in the chuck assembly are hinged with four lifting lugs 2 which are uniformly distributed respectively in an enveloping shape, and the whole capturing structure has automatic centering property. Such a design gives the entire simple chuck assembly as good self-centering as a three-jaw chuck (worm gear principle).
The stroke of the telescopic rod, whether the telescopic rod adopts a hydraulic type or a motor driven screw pair equation, is limited to the right movement so as to ensure that the telescopic rod 8 does not collide with the bearing assembly 3.
The radial dimension of the telescopic rod 8 is smaller than the distance between the two corresponding lifting lugs on the inner wall of the shell, so that the assembly is convenient.
In the tail end action process of the mechanical arm, the telescopic rod starts to extend, the chuck opens along with the telescopic rod, the telescopic rod of the control system starts to retract until the chuck completely envelopes the proper position of the AKM spray pipe, and the chuck assembly closes along with the telescopic rod. The clamping force is input to the telescopic rod driving source as a feedback signal through the pressure sensing gasket arranged between the clamping head and the flexible friction-resistant anti-slip pad, so that the target can be captured in a similar rigid manner without damaging the butt joint.
After the capture is completed, the service spacecraft can begin to perform a series of spatial operations on the target, such as despinning of out-of-control satellites, on-orbit repair, fueling, auxiliary in-orbit, off-orbit, etc., as required.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, but any modifications, equivalents, improvements, etc. made according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (4)
1. The utility model provides an underactuated space arrest device with self-adaptation, includes casing, chuck, torsional spring, telescopic link and pressure sensor, its characterized in that: the shell is a hollow cylinder; one end of each chuck is positioned outside the shell, the other end of each chuck extends into the shell through an opening in the end face of the shell and is hinged to one end of the telescopic rod, a torsion spring is arranged at the hinged position, and one end of each chuck positioned outside the shell is driven to open outwards along the radial direction of the shell; the telescopic rod is driven to reciprocate along the axial direction of the shell to drive the clamping head to extend or retract into the shell, and when the clamping head extends out of the shell, the clamping head is outwards opened along the radial direction of the shell under the action of the torsion spring; when the chuck is retracted into the shell, the chuck is extruded by the opening of the end face of the shell, and the chuck is folded to capture a target; the pressure sensor is arranged at the contact part of the chuck and the target, and the movement of the telescopic rod is controlled in a feedback manner, so that the pressure of the chuck and the contact part of the target is adjusted;
a radial thrust bearing is arranged at the opening of the end face of the shell, and the chuck is contacted with the shell through the radial thrust bearing;
the radial thrust bearing rolls along the smooth upper surface of the chuck, and when the chuck moves leftwards under the drive of the telescopic rod, the folding effect is realized under the extrusion of the radial thrust bearing;
the outer ring of the radial thrust bearing and the surface of the chuck are plated by chemical vapor deposition technology.
2. The adaptive underactuated spatial capture device of claim 1, wherein: the telescopic rod is driven by the telescopic or motor driving screw thread pair of the controllable hydraulic cylinder piston rod.
3. The adaptive underactuated spatial capture device of claim 1, wherein: the flexible friction-resistant anti-slip pad is arranged at the contact part of the chuck and the target, and the pressure sensor is arranged between the flexible friction-resistant anti-slip pad and the chuck.
4. The adaptive underactuated spatial capture device of claim 1, wherein: the four clamping heads are distributed at the opening of the end face of the shell in a pair of two-to-two uniformly; when the clamping heads move to the opening limit station, the clamping heads are in a radial shape; when moving to the clamping limit station, the clamping heads are enveloped.
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| CN110816892B (en) * | 2019-10-10 | 2020-12-11 | 中国科学院力学研究所 | Low-orbit geomagnetic energy storage on-orbit delivery spacecraft nutation suppression method |
| CN112678209B (en) * | 2020-12-31 | 2022-04-29 | 广州大学 | Flexible rapid grabbing device and method for lizard-eye-imitating animals |
| CN113002806A (en) * | 2021-03-02 | 2021-06-22 | 南京航空航天大学 | Service satellite structure for space non-cooperative target in-orbit control |
| CN115477025B (en) * | 2022-10-31 | 2023-05-26 | 哈尔滨工业大学 | Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard |
| CN117163328B (en) * | 2023-08-04 | 2024-03-15 | 苏州三垣航天科技有限公司 | Multi-target capturing mechanism and capturing method |
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| CN109606751A (en) * | 2018-12-13 | 2019-04-12 | 中国空间技术研究院 | A kind of high rail Satellite General cone bar capture mechanism |
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| CN85100022A (en) * | 1985-03-28 | 1986-01-10 | 天津大学 | Compound coat with electric deposition |
| CN1936076A (en) * | 2006-09-14 | 2007-03-28 | 燕山大学 | Nickel-base composite cladding for preventing cold-welding effect under high vacuum environment and its plating process |
| CN103331759B (en) * | 2013-06-28 | 2015-06-10 | 哈尔滨工业大学 | Large-allowance capturing mechanism for end effector of spatial large manipulator |
| CN103433932A (en) * | 2013-08-16 | 2013-12-11 | 江苏大学 | Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism |
| JP6490798B2 (en) * | 2014-05-02 | 2019-03-27 | マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド | Spacecraft capture mechanism |
| CN205854540U (en) * | 2016-07-04 | 2017-01-04 | 西北工业大学 | A kind of encircle the device arresting space junk |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
| CN109131955B (en) * | 2018-10-18 | 2021-07-06 | 哈尔滨工业大学 | Three-finger non-cooperative target capturing mechanism and capturing method thereof |
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| CN109606751A (en) * | 2018-12-13 | 2019-04-12 | 中国空间技术研究院 | A kind of high rail Satellite General cone bar capture mechanism |
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| Title |
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| 国外空间非合作目标抓捕***研究现状与关键技术分析;蔡洪亮等;装备指挥技术学院学报;第21卷(第06期);第72-77页 * |
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Inventor after: Ning Xin Inventor after: Jia Fudao Inventor after: Wang Yu Inventor after: Yue Xiaokui Inventor before: Jia Fudao Inventor before: Ning Xin Inventor before: Wang Yu Inventor before: Yue Xiaokui |